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<div class="title">types_seven_dof_expmap.h</div>  </div>
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<a href="types__seven__dof__expmap_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 H. Strasdat</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// Modified by Raúl Mur Artal (2014)</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// - Added EdgeInverseSim3ProjectXYZ </span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">// - Modified VertexSim3Expmap to represent relative transformation between two cameras. Includes calibration of both cameras.</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#ifndef G2O_SEVEN_DOF_EXPMAP_TYPES</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#define G2O_SEVEN_DOF_EXPMAP_TYPES</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &quot;../core/base_vertex.h&quot;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &quot;../core/base_binary_edge.h&quot;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="types__six__dof__expmap_8h.html">types_six_dof_expmap.h</a>&quot;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="sim3_8h.html">sim3.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="keyword">using namespace </span><a class="code" href="namespace_eigen.html">Eigen</a>;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classg2o_1_1_vertex_sim3_expmap.html">   48</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classg2o_1_1_vertex_sim3_expmap.html">VertexSim3Expmap</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_base_vertex.html">BaseVertex</a>&lt;7, Sim3&gt;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  {</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <a class="code" href="classg2o_1_1_vertex_sim3_expmap.html">VertexSim3Expmap</a>();</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> read(std::istream&amp; is);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> write(std::ostream&amp; os) <span class="keyword">const</span>;</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classg2o_1_1_vertex_sim3_expmap.html#ab076d5964ab55f95251a75bcf341ce05">   56</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_vertex_sim3_expmap.html#ab076d5964ab55f95251a75bcf341ce05">setToOriginImpl</a>() {</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      _estimate = <a class="code" href="structg2o_1_1_sim3.html">Sim3</a>();</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    }</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classg2o_1_1_vertex_sim3_expmap.html#abef7e4d10825caa129984f69251508c2">   60</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_vertex_sim3_expmap.html#abef7e4d10825caa129984f69251508c2">oplusImpl</a>(<span class="keyword">const</span> <span class="keywordtype">double</span>* update_)</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    {</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      Eigen::Map&lt;Vector7d&gt; update(const_cast&lt;double*&gt;(update_));</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keywordflow">if</span> (_fix_scale)</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        update[6] = 0;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <a class="code" href="structg2o_1_1_sim3.html">Sim3</a> s(update);</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      setEstimate(s*estimate());</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    }</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classg2o_1_1_vertex_sim3_expmap.html#aae09e8dc5707e524901e49af4d022edb">   71</a></span>&#160;    Vector2d _principle_point1, <a class="code" href="classg2o_1_1_vertex_sim3_expmap.html#aae09e8dc5707e524901e49af4d022edb">_principle_point2</a>;</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classg2o_1_1_vertex_sim3_expmap.html#a05c121f708922185d7b0823251c28290">   72</a></span>&#160;    Vector2d _focal_length1, <a class="code" href="classg2o_1_1_vertex_sim3_expmap.html#a05c121f708922185d7b0823251c28290">_focal_length2</a>;</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classg2o_1_1_vertex_sim3_expmap.html#a23848134729d617ed1b4adb0ec12d246">   74</a></span>&#160;    Vector2d <a class="code" href="classg2o_1_1_vertex_sim3_expmap.html#a23848134729d617ed1b4adb0ec12d246">cam_map1</a>(<span class="keyword">const</span> Vector2d &amp; v)<span class="keyword"> const</span></div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      Vector2d res;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      res[0] = v[0]*_focal_length1[0] + _principle_point1[0];</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      res[1] = v[1]*_focal_length1[1] + _principle_point1[1];</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    }</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classg2o_1_1_vertex_sim3_expmap.html#aa1fea182077bd192c547d6b59c874e1e">   82</a></span>&#160;    Vector2d <a class="code" href="classg2o_1_1_vertex_sim3_expmap.html#aa1fea182077bd192c547d6b59c874e1e">cam_map2</a>(<span class="keyword">const</span> Vector2d &amp; v)<span class="keyword"> const</span></div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;<span class="keyword">    </span>{</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      Vector2d res;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      res[0] = v[0]*_focal_length2[0] + _principle_point2[0];</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      res[1] = v[1]*_focal_length2[1] + _principle_point2[1];</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keywordflow">return</span> res;</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    }</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classg2o_1_1_vertex_sim3_expmap.html#a63854235b605e45825798d327890930e">   90</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="classg2o_1_1_vertex_sim3_expmap.html#a63854235b605e45825798d327890930e">_fix_scale</a>;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; 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     _error = error_.<a class="code" href="structg2o_1_1_sim3.html#a63fedc1606012b8ce197554f6489080b">log</a>();</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    }</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_sim3.html#a0fd73623327838b46abdf292582da6ae">  116</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">double</span> <a class="code" href="classg2o_1_1_edge_sim3.html#a0fd73623327838b46abdf292582da6ae">initialEstimatePossible</a>(<span class="keyword">const</span> <a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">OptimizableGraph::VertexSet</a>&amp; , <a class="code" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a>* ) { <span class="keywordflow">return</span> 1.;}</div><div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_sim3.html#afac4cc093af6f54adb278c142f33dcca">  117</a></span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_edge_sim3.html#afac4cc093af6f54adb278c142f33dcca">initialEstimate</a>(<span class="keyword">const</span> <a class="code" href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">OptimizableGraph::VertexSet</a>&amp; from, <a class="code" href="classg2o_1_1_optimizable_graph_1_1_vertex.html">OptimizableGraph::Vertex</a>* <span class="comment">/*to*/</span>)</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    {</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <a class="code" href="classg2o_1_1_vertex_sim3_expmap.html">VertexSim3Expmap</a>* v1 = <span class="keyword">static_cast&lt;</span><a class="code" href="classg2o_1_1_vertex_sim3_expmap.html">VertexSim3Expmap</a>*<span class="keyword">&gt;</span>(_vertices[0]);</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; 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   }</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  };</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_sim3_project_x_y_z.html">  130</a></span>&#160;<span class="keyword">class </span><a class="code" href="classg2o_1_1_edge_sim3_project_x_y_z.html">EdgeSim3ProjectXYZ</a> : <span class="keyword">public</span>  <a class="code" href="classg2o_1_1_base_binary_edge.html">BaseBinaryEdge</a>&lt;2, Vector2d,  VertexSBAPointXYZ, VertexSim3Expmap&gt;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;{</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <a class="code" href="classg2o_1_1_edge_sim3_project_x_y_z.html">EdgeSim3ProjectXYZ</a>();</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> read(std::istream&amp; is);</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> write(std::ostream&amp; os) <span class="keyword">const</span>;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_sim3_project_x_y_z.html#ae821156265db463d49b9ac2166186274">  138</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_edge_sim3_project_x_y_z.html#ae821156265db463d49b9ac2166186274">computeError</a>()</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    {</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="keyword">const</span> <a class="code" href="classg2o_1_1_vertex_sim3_expmap.html">VertexSim3Expmap</a>* v1 = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classg2o_1_1_vertex_sim3_expmap.html">VertexSim3Expmap</a>*<span class="keyword">&gt;</span>(_vertices[1]);</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keyword">const</span> <a class="code" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html">VertexSBAPointXYZ</a>* v2 = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html">VertexSBAPointXYZ</a>*<span class="keyword">&gt;</span>(_vertices[0]);</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      Vector2d obs(_measurement);</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      _error = obs-v1-&gt;<a class="code" href="classg2o_1_1_vertex_sim3_expmap.html#a23848134729d617ed1b4adb0ec12d246">cam_map1</a>(<a class="code" href="namespaceg2o.html#a45b89a0471d862c09167e7ce718df000">project</a>(v1-&gt;<a class="code" href="classg2o_1_1_base_vertex.html#afea20bbcf50eb2a7d9d598b3eae49172">estimate</a>().<a class="code" href="structg2o_1_1_sim3.html#a577ba985864cab536688123df6063b39">map</a>(v2-&gt;<a class="code" href="classg2o_1_1_base_vertex.html#afea20bbcf50eb2a7d9d598b3eae49172">estimate</a>())));</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    }</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;   <span class="comment">// virtual void linearizeOplus();</span></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;};</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;</div><div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_inverse_sim3_project_x_y_z.html">  152</a></span>&#160;<span class="keyword">class </span><a class="code" href="classg2o_1_1_edge_inverse_sim3_project_x_y_z.html">EdgeInverseSim3ProjectXYZ</a> : <span class="keyword">public</span>  <a class="code" href="classg2o_1_1_base_binary_edge.html">BaseBinaryEdge</a>&lt;2, Vector2d,  VertexSBAPointXYZ, VertexSim3Expmap&gt;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;{</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keyword">public</span>:</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <a class="code" href="classg2o_1_1_edge_inverse_sim3_project_x_y_z.html">EdgeInverseSim3ProjectXYZ</a>();</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> read(std::istream&amp; is);</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">bool</span> write(std::ostream&amp; os) <span class="keyword">const</span>;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;</div><div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classg2o_1_1_edge_inverse_sim3_project_x_y_z.html#a8fa376524e861ae8c4f1a360d217f02d">  160</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_edge_inverse_sim3_project_x_y_z.html#a8fa376524e861ae8c4f1a360d217f02d">computeError</a>()</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    {</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="keyword">const</span> <a class="code" href="classg2o_1_1_vertex_sim3_expmap.html">VertexSim3Expmap</a>* v1 = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classg2o_1_1_vertex_sim3_expmap.html">VertexSim3Expmap</a>*<span class="keyword">&gt;</span>(_vertices[1]);</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keyword">const</span> <a class="code" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html">VertexSBAPointXYZ</a>* v2 = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html">VertexSBAPointXYZ</a>*<span class="keyword">&gt;</span>(_vertices[0]);</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; 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<div class="ttc" id="classg2o_1_1_vertex_sim3_expmap_html_aae09e8dc5707e524901e49af4d022edb"><div class="ttname"><a href="classg2o_1_1_vertex_sim3_expmap.html#aae09e8dc5707e524901e49af4d022edb">g2o::VertexSim3Expmap::_principle_point2</a></div><div class="ttdeci">Vector2d _principle_point2</div><div class="ttdef"><b>Definition:</b> types_seven_dof_expmap.h:71</div></div>
<div class="ttc" id="classg2o_1_1_optimizable_graph_1_1_vertex_html"><div class="ttname"><a href="classg2o_1_1_optimizable_graph_1_1_vertex.html">g2o::OptimizableGraph::Vertex</a></div><div class="ttdoc">A general case Vertex for optimization. </div><div class="ttdef"><b>Definition:</b> optimizable_graph.h:127</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_acb6e8e8f39caa04f62dd93a3dd400e06"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#acb6e8e8f39caa04f62dd93a3dd400e06">g2o::BaseVertex::setEstimate</a></div><div class="ttdeci">void setEstimate(const EstimateType &amp;et)</div><div class="ttdoc">set the estimate for the vertex also calls updateCache() </div><div class="ttdef"><b>Definition:</b> base_vertex.h:104</div></div>
<div class="ttc" id="classg2o_1_1_edge_sim3_project_x_y_z_html_ae821156265db463d49b9ac2166186274"><div class="ttname"><a href="classg2o_1_1_edge_sim3_project_x_y_z.html#ae821156265db463d49b9ac2166186274">g2o::EdgeSim3ProjectXYZ::computeError</a></div><div class="ttdeci">void computeError()</div><div class="ttdef"><b>Definition:</b> types_seven_dof_expmap.h:138</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html"><div class="ttname"><a href="structg2o_1_1_sim3.html">g2o::Sim3</a></div><div class="ttdef"><b>Definition:</b> sim3.h:41</div></div>
<div class="ttc" id="classg2o_1_1_hyper_graph_html_a703938cdb4bb636860eed55a2489d70c"><div class="ttname"><a href="classg2o_1_1_hyper_graph.html#a703938cdb4bb636860eed55a2489d70c">g2o::HyperGraph::VertexSet</a></div><div class="ttdeci">std::set&lt; Vertex * &gt; VertexSet</div><div class="ttdef"><b>Definition:</b> hyper_graph.h:91</div></div>
<div class="ttc" id="sim3_8h_html"><div class="ttname"><a href="sim3_8h.html">sim3.h</a></div></div>
<div class="ttc" id="classg2o_1_1_vertex_s_b_a_point_x_y_z_html"><div class="ttname"><a href="classg2o_1_1_vertex_s_b_a_point_x_y_z.html">g2o::VertexSBAPointXYZ</a></div><div class="ttdoc">Point vertex, XYZ. </div><div class="ttdef"><b>Definition:</b> types_sba.h:40</div></div>
<div class="ttc" id="classg2o_1_1_edge_inverse_sim3_project_x_y_z_html_a8fa376524e861ae8c4f1a360d217f02d"><div class="ttname"><a href="classg2o_1_1_edge_inverse_sim3_project_x_y_z.html#a8fa376524e861ae8c4f1a360d217f02d">g2o::EdgeInverseSim3ProjectXYZ::computeError</a></div><div class="ttdeci">void computeError()</div><div class="ttdef"><b>Definition:</b> types_seven_dof_expmap.h:160</div></div>
<div class="ttc" id="namespace_eigen_html"><div class="ttname"><a href="namespace_eigen.html">Eigen</a></div></div>
<div class="ttc" id="classg2o_1_1_edge_sim3_html_afac4cc093af6f54adb278c142f33dcca"><div class="ttname"><a href="classg2o_1_1_edge_sim3.html#afac4cc093af6f54adb278c142f33dcca">g2o::EdgeSim3::initialEstimate</a></div><div class="ttdeci">virtual void initialEstimate(const OptimizableGraph::VertexSet &amp;from, OptimizableGraph::Vertex *)</div><div class="ttdoc">set the estimate of the to vertex, based on the estimate of the from vertices in the edge...</div><div class="ttdef"><b>Definition:</b> types_seven_dof_expmap.h:117</div></div>
<div class="ttc" id="classg2o_1_1_edge_sim3_html_a68f55d11f6b8b210318f167d04722a8b"><div class="ttname"><a href="classg2o_1_1_edge_sim3.html#a68f55d11f6b8b210318f167d04722a8b">g2o::EdgeSim3::computeError</a></div><div class="ttdeci">void computeError()</div><div class="ttdef"><b>Definition:</b> types_seven_dof_expmap.h:106</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_aad881b9ea79640adac90d8ae58b4a5f0"><div class="ttname"><a href="structg2o_1_1_sim3.html#aad881b9ea79640adac90d8ae58b4a5f0">g2o::Sim3::inverse</a></div><div class="ttdeci">Sim3 inverse() const</div><div class="ttdef"><b>Definition:</b> sim3.h:233</div></div>
<div class="ttc" id="classg2o_1_1_edge_sim3_html_a0fd73623327838b46abdf292582da6ae"><div class="ttname"><a href="classg2o_1_1_edge_sim3.html#a0fd73623327838b46abdf292582da6ae">g2o::EdgeSim3::initialEstimatePossible</a></div><div class="ttdeci">virtual double initialEstimatePossible(const OptimizableGraph::VertexSet &amp;, OptimizableGraph::Vertex *)</div><div class="ttdoc">override in your class if it&amp;#39;s possible to initialize the vertices in certain combinations. </div><div class="ttdef"><b>Definition:</b> types_seven_dof_expmap.h:116</div></div>
<div class="ttc" id="classg2o_1_1_vertex_sim3_expmap_html"><div class="ttname"><a href="classg2o_1_1_vertex_sim3_expmap.html">g2o::VertexSim3Expmap</a></div><div class="ttdoc">Sim3 Vertex, (x,y,z,qw,qx,qy,qz) the parameterization for the increments constructed is a 7d vector (...</div><div class="ttdef"><b>Definition:</b> types_seven_dof_expmap.h:48</div></div>
<div class="ttc" id="classg2o_1_1_vertex_sim3_expmap_html_a05c121f708922185d7b0823251c28290"><div class="ttname"><a href="classg2o_1_1_vertex_sim3_expmap.html#a05c121f708922185d7b0823251c28290">g2o::VertexSim3Expmap::_focal_length2</a></div><div class="ttdeci">Vector2d _focal_length2</div><div class="ttdef"><b>Definition:</b> types_seven_dof_expmap.h:72</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html"><div class="ttname"><a href="classg2o_1_1_base_vertex.html">g2o::BaseVertex</a></div><div class="ttdoc">Templatized BaseVertex. </div><div class="ttdef"><b>Definition:</b> base_vertex.h:53</div></div>
<div class="ttc" id="classg2o_1_1_base_vertex_html_afea20bbcf50eb2a7d9d598b3eae49172"><div class="ttname"><a href="classg2o_1_1_base_vertex.html#afea20bbcf50eb2a7d9d598b3eae49172">g2o::BaseVertex::estimate</a></div><div class="ttdeci">const EstimateType &amp; estimate() const</div><div class="ttdoc">return the current estimate of the vertex </div><div class="ttdef"><b>Definition:</b> base_vertex.h:102</div></div>
<div class="ttc" id="namespaceg2o_html_a45b89a0471d862c09167e7ce718df000"><div class="ttname"><a href="namespaceg2o.html#a45b89a0471d862c09167e7ce718df000">g2o::project</a></div><div class="ttdeci">Vector2d project(const Vector3d &amp;)</div><div class="ttdef"><b>Definition:</b> se3_ops.h:50</div></div>
<div class="ttc" id="classg2o_1_1_vertex_sim3_expmap_html_a63854235b605e45825798d327890930e"><div class="ttname"><a href="classg2o_1_1_vertex_sim3_expmap.html#a63854235b605e45825798d327890930e">g2o::VertexSim3Expmap::_fix_scale</a></div><div class="ttdeci">bool _fix_scale</div><div class="ttdef"><b>Definition:</b> types_seven_dof_expmap.h:90</div></div>
<div class="ttc" id="classg2o_1_1_vertex_sim3_expmap_html_aa1fea182077bd192c547d6b59c874e1e"><div class="ttname"><a href="classg2o_1_1_vertex_sim3_expmap.html#aa1fea182077bd192c547d6b59c874e1e">g2o::VertexSim3Expmap::cam_map2</a></div><div class="ttdeci">Vector2d cam_map2(const Vector2d &amp;v) const</div><div class="ttdef"><b>Definition:</b> types_seven_dof_expmap.h:82</div></div>
<div class="ttc" id="classg2o_1_1_edge_inverse_sim3_project_x_y_z_html"><div class="ttname"><a href="classg2o_1_1_edge_inverse_sim3_project_x_y_z.html">g2o::EdgeInverseSim3ProjectXYZ</a></div><div class="ttdef"><b>Definition:</b> types_seven_dof_expmap.h:152</div></div>
<div class="ttc" id="classg2o_1_1_edge_sim3_project_x_y_z_html"><div class="ttname"><a href="classg2o_1_1_edge_sim3_project_x_y_z.html">g2o::EdgeSim3ProjectXYZ</a></div><div class="ttdef"><b>Definition:</b> types_seven_dof_expmap.h:130</div></div>
<div class="ttc" id="types__six__dof__expmap_8h_html"><div class="ttname"><a href="types__six__dof__expmap_8h.html">types_six_dof_expmap.h</a></div></div>
<div class="ttc" id="classg2o_1_1_vertex_sim3_expmap_html_abef7e4d10825caa129984f69251508c2"><div class="ttname"><a href="classg2o_1_1_vertex_sim3_expmap.html#abef7e4d10825caa129984f69251508c2">g2o::VertexSim3Expmap::oplusImpl</a></div><div class="ttdeci">virtual void oplusImpl(const double *update_)</div><div class="ttdoc">update the position of the node from the parameters in v. </div><div class="ttdef"><b>Definition:</b> types_seven_dof_expmap.h:60</div></div>
<div class="ttc" id="classg2o_1_1_edge_sim3_html"><div class="ttname"><a href="classg2o_1_1_edge_sim3.html">g2o::EdgeSim3</a></div><div class="ttdoc">7D edge between two Vertex7 </div><div class="ttdef"><b>Definition:</b> types_seven_dof_expmap.h:99</div></div>
<div class="ttc" id="classg2o_1_1_vertex_sim3_expmap_html_ab076d5964ab55f95251a75bcf341ce05"><div class="ttname"><a href="classg2o_1_1_vertex_sim3_expmap.html#ab076d5964ab55f95251a75bcf341ce05">g2o::VertexSim3Expmap::setToOriginImpl</a></div><div class="ttdeci">virtual void setToOriginImpl()</div><div class="ttdoc">sets the node to the origin (used in the multilevel stuff) </div><div class="ttdef"><b>Definition:</b> types_seven_dof_expmap.h:56</div></div>
<div class="ttc" id="classg2o_1_1_vertex_sim3_expmap_html_a23848134729d617ed1b4adb0ec12d246"><div class="ttname"><a href="classg2o_1_1_vertex_sim3_expmap.html#a23848134729d617ed1b4adb0ec12d246">g2o::VertexSim3Expmap::cam_map1</a></div><div class="ttdeci">Vector2d cam_map1(const Vector2d &amp;v) const</div><div class="ttdef"><b>Definition:</b> types_seven_dof_expmap.h:74</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a577ba985864cab536688123df6063b39"><div class="ttname"><a href="structg2o_1_1_sim3.html#a577ba985864cab536688123df6063b39">g2o::Sim3::map</a></div><div class="ttdeci">Vector3d map(const Vector3d &amp;xyz) const</div><div class="ttdef"><b>Definition:</b> sim3.h:144</div></div>
<div class="ttc" id="structg2o_1_1_sim3_html_a63fedc1606012b8ce197554f6489080b"><div class="ttname"><a href="structg2o_1_1_sim3.html#a63fedc1606012b8ce197554f6489080b">g2o::Sim3::log</a></div><div class="ttdeci">Vector7d log() const</div><div class="ttdef"><b>Definition:</b> sim3.h:148</div></div>
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